U.S. patent application number 16/957720 was filed with the patent office on 2021-03-04 for robot multi-degree-of-freedom clamper.
The applicant listed for this patent is SHENYANG INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES. Invention is credited to Jinguo LIU, Yunjun LIU.
Application Number | 20210060796 16/957720 |
Document ID | / |
Family ID | 1000005260217 |
Filed Date | 2021-03-04 |
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United States Patent
Application |
20210060796 |
Kind Code |
A1 |
LIU; Jinguo ; et
al. |
March 4, 2021 |
ROBOT MULTI-DEGREE-OF-FREEDOM CLAMPER
Abstract
The present invention relates to a robot multi-degree-of-freedom
damper. A clamping jaw supporting frame is installed on a bottom
plate; a short stroke biaxial cylinder is installed on the clamping
jaw supporting frame; an output end is connected with a pneumatic
clamping jaw A; a clamping jaw finger A is connected with an output
end of the pneumatic clamping jaw A; a long stroke biaxial cylinder
is installed on the bottom plate; the output end of the long stroke
biaxial cylinder is connected with a pneumatic clamping jaw B; a
clamping jaw finger B is connected with the output end of the
pneumatic clamping jaw B; a pneumatic clamping jaw C is installed
on the clamping jaw supporting frame and positioned between the
pneumatic clamping jaw A and the pneumatic clamping jaw B; a
clamping jaw finger C is connected with the output end of the
pneumatic clamping jaw C; the clamping jaw finger A and the
pneumatic clamping jaw A are driven by the short stroke biaxial
cylinder to move back and forth on the clamping jaw supporting
frame; and the clamping jaw finger B and the pneumatic clamping jaw
B are driven by the long stroke biaxial cylinder to move back and
forth on the bottom plate. The present invention adopts the
humanoid configuration design, can realize the automatic docking of
the spring return type quick joints, and has unique appearance,
novel structure, simple control and strong working reliability.
Inventors: |
LIU; Jinguo; (Shenyang,
Liaoning, CN) ; LIU; Yunjun; (Shenyang, Liaoning,
CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SHENYANG INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF
SCIENCES |
Shenyang, Liaoning |
|
CN |
|
|
Family ID: |
1000005260217 |
Appl. No.: |
16/957720 |
Filed: |
December 20, 2018 |
PCT Filed: |
December 20, 2018 |
PCT NO: |
PCT/CN2018/122219 |
371 Date: |
June 24, 2020 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B25J 15/086 20130101;
B64G 1/646 20130101; B25J 15/103 20130101; B25J 15/0009 20130101;
B25J 15/0033 20130101 |
International
Class: |
B25J 15/00 20060101
B25J015/00; B25J 15/08 20060101 B25J015/08; B25J 15/10 20060101
B25J015/10 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 25, 2017 |
CN |
201711422333.3 |
Claims
1. A robot multi-degree-of-freedom damper, characterized by
comprising a clamping jaw finger A(1), a pneumatic clamping jaw
A(2), a short stroke biaxial cylinder (4), a clamping jaw
supporting frame (5), a bottom plate (6), a long stroke biaxial
cylinder (7), a pneumatic clamping jaw B(9), a pneumatic clamping
jaw C(10), a clamping jaw finger B(11) and a clamping jaw finger
C(12), wherein the clamping jaw supporting frame (5) is installed
on the bottom plate (6); the short stroke biaxial cylinder (4) is
installed on the clamping jaw supporting frame (5); an output end
is connected with the pneumatic clamping jaw A(2); the clamping jaw
finger A(1) is connected with an output end of the pneumatic
clamping jaw A(2); the long stroke biaxial cylinder (7) is
installed on the bottom plate (6), and positioned below the short
stroke biaxial cylinder (4); the output end of the long stroke
biaxial cylinder (7) is connected with the pneumatic clamping jaw
B(9); the clamping jaw finger B(11) is connected with the output
end of the pneumatic clamping jaw B(9); the pneumatic clamping jaw
C(10) is installed on the clamping jaw supporting frame (5) and
positioned between the pneumatic clamping jaw A(2) and the
pneumatic clamping jaw B(9); the clamping jaw finger C(12) is
connected with the output end of the pneumatic clamping jaw C(10);
the clamping jaw finger A(1) and the pneumatic clamping jaw A(2)
are driven by the short stroke biaxial cylinder (4) to move back
and forth on the clamping jaw supporting frame (5); the clamping
jaw finger B(11) and the pneumatic clamping jaw B(9) are driven by
the long stroke biaxial cylinder (7) to move back and forth on the
bottom plate (6); the clamping jaw finger A(1) and the clamping jaw
finger C(12) clamp a female quick joint (14); the clamping jaw
finger B(11) clamps a male quick joint (13); and the docking of the
male quick joint (13) and the female quick joint (14) is realized
through the driving of the long stroke biaxial cylinder (7) and the
short stroke biaxial cylinder (4).
2. The robot multi-degree-of-freedom clamper according to claim 1,
characterized in that entirely rhombic openings for clamping a
prism are formed on both sides of a clamping end of the clamping
jaw finger A(1).
3. The robot multi-degree-of-freedom damper according to claim 1,
characterized in that each side of a clamping end of the clamping
jaw finger C(12) is a semicircular opening; and entirely circular
openings for clamping the cylinder are formed on both sides of the
clamping end.
4. The robot multi-degree-of-freedom damper according to claim 1,
characterized in that the clamping jaw finger A(1) and the
pneumatic clamping jaw A(2), and the clamping jaw finger B(11) and
the pneumatic clamping jaw B(8) are respectively positioned on both
sides of the clamping jaw finger C(12) and the pneumatic clamping
jaw C(10).
5. The robot multi-degree-of-freedom damper according to claim 1,
characterized in that the pneumatic clamping jaw A(2) is connected
with the output end of the short stroke biaxial cylinder (4)through
a clamping jaw fixing plate A(3); one end of the clamping jaw
fixing plate A(3) is connected with the pneumatic clamping jaw
A(2), and the other end is connected with the output end of the
short stroke biaxial cylinder (4); the pneumatic clamping jaw B(9)
is connected with the output end of the long stroke biaxial
cylinder (7) through a clamping jaw fixing plate B(8); one end of
the clamping jaw fixing plate B(7) is connected with the pneumatic
clamping jaw B(9), and the other end is connected with the output
end of the long stroke biaxial cylinder (7).
6. The robot multi-degree-of-freedom damper according to claim 5,
characterized in that the clamping jaw fixing plate A(3) has the
same shape and structure as those of the clamping jaw fixing plate
B(8); and the shape is a cuboid structure and an oval hole (15) for
reducing self-weight and increasing a ratio of bearing capacity to
weight is formed in the middle.
7. The robot multi-degree-of-freedom damper according to claim 1,
characterized in that the projection of the biaxial centerline of
the short stroke biaxial cylinder (4) in the axial direction and
the projection of the biaxial centerline of the long stroke biaxial
cylinder (7) in the axial direction on the bottom plate (6) are
respectively collinear.
8. The robot multi-degree-of-freedom damper according to claim 1,
characterized in that both sides in the lengthwise direction of the
clamping jaw supporting frame (5) are fixedly connected to the
bottom plate (6); the short stroke biaxial cylinder (4) is fixedly
connected to an upper surface of the rear end of the clamping jaw
supporting frame (5); the front end of the clamping jaw supporting
frame (5) extends upwards to form an installing plate (18); and the
pneumatic clamping jaw C(10) is fixedly connected to one side of
the installing plate (18) which faces the pneumatic clamping jaw
B(9).
9. The robot multi-degree-of-freedom clamper according to claim 1,
characterized in that a weight reducing slot hole (16) and a guide
slot (17) for guiding the motion of the pneumatic clamping jaw B(9)
are respectively formed in the bottom plate (6).
Description
TECHNICAL FIELD
[0001] The present invention relates to a clamper, particularly to
a robot multi-degree-of-freedom damper.
BACKGROUND
[0002] Propellant filling is an important link before rocket
launching. The space powers in the world have been paying close
attention to the research of automatic docking and disassembling
technology of propellant filling pipeline joints. Docking and
disassembling of pipeline joint connectors is a high risk link in
filling, and is also a primary problem to be solved in realizing
the automation of the filling process. In the work of adding and
discharging the propellant of a launch vehicle, connection,
disassembling and transportation of various propellant pipelines,
and the cleaning work of propellant filling pipes and propellant
storage tanks are extremely dangerous tasks, and can easily cause
casualties. Therefore, research of an automatic filling robot
technology is conducive to shortening preparation time before
launching, decreasing workload and reducing risks of emergency
produced by misoperation of service crew; improving the safety of
rockets and operators; and enhancing the reliability and safety of
the system, and has important significance to alleviating the labor
intensity of the operators.
[0003] Meanwhile, at present, on the production line of the
air-conditioning industry, the pressure-tightness test, vacuum
pumping, coolant infusion, commercial inspection operation test and
other procedures of the pipeline should be performed every day. The
existing connection of a quick joint of the pipeline, a hydraulic
valve and an air pressure valve is manual docking by staff, which
consumes large manpower. Meanwhile, due to long manual operation
time and low working efficiency, the time wasting phenomenon that a
workpiece waits for people or people wait for the workpiece even
appears.
SUMMARY
[0004] In view of the above problems, the purpose of the present
invention is to provide a robot multi-degree-of-freedom damper. The
multi-degree-of-freedom damper adopts humanoid configuration
design, can realize automatic docking for a spring return type
quick joint, and has unique appearance, novel structure, simple
control and strong working reliability.
[0005] The purpose of the present invention is realized by the
following technical solution:
[0006] The present invention comprises a clamping jaw finger A, a
pneumatic clamping jaw A, a short stroke biaxial cylinder, a
clamping jaw supporting frame, a bottom plate, a long stroke
biaxial cylinder, a pneumatic clamping jaw B, a pneumatic clamping
jaw C, a clamping jaw finger B and a clamping jaw finger C, wherein
the clamping jaw supporting frame is installed on the bottom plate;
the short stroke biaxial cylinder is installed on the clamping jaw
supporting frame; an output end is connected with the pneumatic
clamping jaw A; the clamping jaw finger A is connected with an
output end of the pneumatic clamping jaw A; the long stroke biaxial
cylinder is installed on the bottom plate, and positioned below the
short stroke biaxial cylinder; the output end of the long stroke
biaxial cylinder is connected with the pneumatic clamping jaw B;
the clamping jaw finger B is connected with the output end of the
pneumatic clamping jaw B; the pneumatic clamping jaw C is installed
on the clamping jaw supporting frame and positioned between the
pneumatic clamping jaw A and the pneumatic clamping jaw B; the
clamping jaw finger C is connected with the output end of the
pneumatic clamping jaw C; the clamping jaw finger A and the
pneumatic clamping jaw A are driven by the short stroke biaxial
cylinder to move back and forth on the clamping jaw supporting
frame; the clamping jaw finger B and the pneumatic clamping jaw B
are driven by the long stroke biaxial cylinder to move back and
forth on the bottom plate; the clamping jaw finger A and the
clamping jaw finger C clamp a female quick joint; the clamping jaw
finger B clamps a male quick joint; and the docking of the male
quick joint and the female quick joint is realized through the
driving of the long stroke biaxial cylinder and the short stroke
biaxial cylinder.
[0007] Entirely rhombic openings for clamping a prism are formed on
both sides of a clamping end of the clamping jaw finger A.
[0008] Each side of a clamping end of the clamping jaw finger C is
a semicircular opening; and entirely circular openings for clamping
the cylinder are formed on both sides of the clamping end.
[0009] The clamping jaw finger A and the pneumatic clamping jaw A,
and the clamping jaw finger B and the pneumatic clamping jaw B are
respectively positioned on both sides of the clamping jaw finger C
and the pneumatic clamping jaw C.
[0010] The pneumatic clamping jaw A is connected with the output
end of the short stroke biaxial cylinder through a clamping jaw
fixing plate A; one end of the clamping jaw fixing plate A is
connected with the pneumatic clamping jaw A, and the other end is
connected with the output end of the short stroke biaxial cylinder;
the pneumatic clamping jaw B is connected with the output end of
the long stroke biaxial cylinder through a clamping jaw fixing
plate B; one end of the clamping jaw fixing plate B is connected
with the pneumatic clamping jaw B, and the other end is connected
with the output end of the long stroke biaxial cylinder; the
clamping jaw fixing plate A has the same shape and structure as
those of the clamping jaw fixing plate B; and the shape is a cuboid
structure and an oval hole for reducing self-weight and increasing
a ratio of bearing capacity to weight is formed in the middle.
[0011] The projection of the biaxial centerline of the short stroke
biaxial cylinder in the axial direction and the projection of the
biaxial centerline of the long stroke biaxial cylinder in the axial
direction on the bottom plate are respectively collinear.
[0012] Both sides in the lengthwise direction of the clamping jaw
supporting frame are fixedly connected to the bottom plate; the
short stroke biaxial cylinder is fixedly connected to an upper
surface of the rear end of the clamping jaw supporting frame; the
front end of the clamping jaw supporting frame extends upwards to
form an installing plate; and the pneumatic clamping jaw C is
fixedly connected to one side of the installing plate which faces
the pneumatic clamping jaw B.
[0013] A weight reducing slot hole and a guide slot for guiding the
motion of the pneumatic clamping jaw B are respectively formed in
the bottom plate.
[0014] The present invention has the advantages and positive
effects that:
[0015] 1. The present invention adopts the humanoid configuration
design, and has novel and unique structure.
[0016] 2. The clamping jaw fingers of the present invention are
designed as semicircle and rhombus, and have strong specificity and
stable and reliable clamping.
[0017] 3. The middle clamping jaw of the present invention is
fixed, which reduces one degree of freedom and realizes easy
control and high docking accuracy.
[0018] 4. The structures of the clamping jaw supporting frame and
the bottom plate of the present invention are locally hollowed out,
so that the weight is light and the structures are compact.
[0019] 5. The present invention has five degrees of freedom and can
realize clamping and automatic docking of the quick joints.
DESCRIPTION OF DRAWINGS
[0020] FIG. 1 is an overall structural schematic diagram of the
present invention;
[0021] FIG. 2 is a structural front view of the present
invention;
[0022] FIG. 3 is a structural right view of the present
invention;
[0023] FIG. 4 is a structural top view of the present
invention;
[0024] FIG. 5 is a structural schematic diagram of a clamping jaw
fixing plate of the present invention;
[0025] FIG. 6 is a structural schematic diagram of a clamping jaw
supporting frame of the present invention;
[0026] FIG. 7 is a structural schematic diagram of a bottom plate
of the present invention;
[0027] FIG. 8 is a schematic diagram I of an automatic docking
process of the present invention; and
[0028] FIG. 9 is a schematic diagram II of an automatic docking
process of the present invention.
[0029] Wherein: 1 clamping jaw finger A; 2 pneumatic clamping jaw
A; 3 clamping jaw fixing plate A; 4 short stroke biaxial cylinder;
5 clamping jaw supporting frame; 6 bottom plate; 7 long stroke
biaxial cylinder; 8 clamping jaw fixing plate B; 9 pneumatic
clamping jaw B; 10 pneumatic clamping jaw C; 11 clamping jaw finger
B; 12 clamping jaw finger C; 13 male quick joint; 14 female quick
joint; 15 oval hole; 16 weight reducing slot hole; 17 guide slot;
and 18 installing plate.
DETAILED DESCRIPTION
[0030] The present invention is further detailed below in
combination with the drawings.
[0031] As shown in FIG. 1 to FIG. 4, the present invention
comprises a clamping jaw finger A1, a pneumatic clamping jaw A2, a
clamping jaw fixing plate A3, a short stroke biaxial cylinder 4, a
clamping jaw supporting frame 5, a bottom plate 6, a long stroke
biaxial cylinder 7, a clamping jaw fixing plate B8, a pneumatic
clamping jaw B9, a pneumatic clamping jaw C10, a clamping jaw
finger B11 and a clamping jaw finger B12, wherein the clamping jaw
supporting frame 5 is installed on the bottom plate 6; the short
stroke biaxial cylinder 4 is installed on the clamping jaw
supporting frame 5; the pneumatic clamping jaw A2 is connected with
an output end of the short stroke biaxial cylinder 4 through the
clamping jaw fixing plate A3; one end of the clamping jaw fixing
plate A3 is connected with the pneumatic clamping jaw A2 through a
bolt, and the other end is connected with the output end of the
short stroke biaxial cylinder 4 through the bolt; and the clamping
jaw finger A1 is connected with the output end of the pneumatic
clamping jaw A2. The long stroke biaxial cylinder 7 is installed on
the bottom plate 6, and positioned below the short stroke biaxial
cylinder 4; the pneumatic clamping jaw B9 is connected with the
output end of the long stroke biaxial cylinder 7 through the
clamping jaw fixing plate B8; one end of the clamping jaw fixing
plate B7 is connected with the pneumatic clamping jaw B9 through
the bolt, and the other end is connected with the output end of the
long stroke biaxial cylinder 7 through the bolt; and the clamping
jaw finger B11 is connected with the output end of the pneumatic
clamping jaw B9. The pneumatic clamping jaw C10 is installed on the
clamping jaw supporting frame 5 and positioned between the
pneumatic clamping jaw A2 and the pneumatic clamping jaw B9; and
the clamping jaw finger C12 is connected with the output end of the
pneumatic clamping jaw C10. Entirely rhombic openings for clamping
a prism target are designed on both sides of a clamping end of the
clamping jaw finger A1. Each side of a clamping end of the clamping
jaw finger C12 is designed as a semicircular opening; and entirely
circular openings for clamping the cylinder structure are formed on
both sides of the clamping end. The clamping jaw finger A1 and the
clamping jaw finger C12 have strong specificity and stable and
reliable clamping. The clamping jaw finger A1 and the pneumatic
clamping jaw A2, and the clamping jaw finger B11 and the pneumatic
clamping jaw B8 are respectively positioned on both sides of the
clamping jaw finger C12 and the pneumatic clamping jaw C10. The
clamping jaw finger A1 and the pneumatic clamping jaw A2 are driven
by the short stroke biaxial cylinder 4 to move back and forth on
the clamping jaw supporting frame 5; and the clamping jaw finger
B11 and the pneumatic clamping jaw B9 are driven by the long stroke
biaxial cylinder 7 to move back and forth on the bottom plate
6.
[0032] As shown in FIG. 5, the clamping jaw fixing plate A3 has the
same shape and structure as those of the clamping jaw fixing plate
B8; and the shape is a cuboid structure and an oval hole 15 for
reducing self-weight and increasing a ratio of bearing capacity to
weight is formed in the middle.
[0033] As shown in FIG. 6, both sides in the lengthwise direction
of the clamping jaw supporting frame 5 are fixedly connected to the
bottom plate 6; the short stroke biaxial cylinder 4 is fixedly
connected to an upper surface of the rear end of the clamping jaw
supporting frame 5; the front end of the clamping jaw supporting
frame 5 extends upwards to form an installing plate 18; and the
pneumatic clamping jaw C10 is fixedly connected to one side of the
installing plate 18 which faces the pneumatic clamping jaw B9.
Holes and slots with different sizes and shapes are respectively
formed on the upper surface and the side surface of the clamping
jaw supporting frame 5 for reducing self-weight and arrangement of
air pipe lines.
[0034] As shown in FIG. 7, a weight reducing slot hole 16 and a
guide slot 17 for guiding the motion of the pneumatic clamping jaw
B9 are respectively formed in the bottom plate 6. The bottom plate
6 has light weight and compact structure and is used for fixedly
supporting the long stroke biaxial cylinder 7 and the clamping jaw
supporting frame 5.
[0035] The projection of the biaxial centerline of the short stroke
biaxial cylinder 4 in the axial direction and the projection of the
biaxial centerline of the long stroke biaxial cylinder 7 in the
axial direction on the bottom plate 6 are respectively
collinear.
[0036] The present invention has the operating principle that:
[0037] The present invention has five degrees of freedom, i.e., the
clamping of the clamping jaw finger A1, the clamping jaw finger B11
and the clamping jaw finger C12, the motion of the pneumatic
clamping jaw A2 and the clamping jaw finger A1 under the drive of
the short stroke biaxial cylinder 4, and the motion of the
pneumatic clamping jaw B9 and the clamping jaw finger B11 under the
drive of the long stroke biaxial cylinder 7.
[0038] The clamping jaw finger A1 and the clamping jaw finger C12
simultaneously clamp a spring return type female quick joint 14,
and the clamping jaw finger B11 clamps a spring return type male
quick joint 13. The short stroke biaxial cylinder 4 is operated;
and the clamping jaw fixing plate A3 pushes the pneumatic clamping
jaw A2 to extend and reach a set distance so that the spring return
type female quick joint 14 is unlocked, as shown in FIG. 8. Then,
the long stroke biaxial cylinder 7 is operated; and the clamping
jaw fixing plate B8 pulls the pneumatic clamping jaw B9 so that the
spring return type male quick joint 13 is steadily inserted into
the spring return type female quick joint 14, as shown in FIG. 9.
Finally, the short stroke biaxial cylinder 4 is pulled back to
reach an initial position, and the pneumatic clamping jaw A2, the
pneumatic clamping jaw B9 and the pneumatic clamping jaw C10
respectively drive to release the clamping jaw finger A1, the
clamping jaw finger B11 and the clamping jaw finger C12 to complete
the automatic docking of the spring return type quick joints.
[0039] The present invention drives the retractable and pneumatic
clamping jaws of the long stroke biaxial cylinder and the short
stroke biaxial cylinder to open and close through air pressure, to
realize the automatic docking of the spring return type quick
joints. The present invention adopts the humanoid configuration
design, can realize the automatic docking of the spring return type
quick joints, and has unique appearance, novel structure, simple
control and strong working reliability.
* * * * *